chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)
- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "app_tasks.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* USER CODE END Variables */
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osThreadId Start_CAN_TaskHandle;
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uint32_t Start_CAN_TaskBuffer[ 512 ];
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osStaticThreadDef_t Start_CAN_TaskControlBlock;
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osThreadId Start_LED_TaskHandle;
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uint32_t LEDBuffer[ 512 ];
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osStaticThreadDef_t LEDControlBlock;
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osThreadId Start_IMU_TaskHandle;
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uint32_t Start_IMU_TaskBuffer[ 512 ];
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osStaticThreadDef_t Start_IMU_TaskControlBlock;
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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/* USER CODE END FunctionPrototypes */
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void CAN_Task(void const * argument);
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void LED_Task(void const * argument);
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void IMU_Task(void const * argument);
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extern void MX_USB_DEVICE_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* GetIdleTaskMemory prototype (linked to static allocation support) */
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
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static StaticTask_t xIdleTaskTCBBuffer;
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static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
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{
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
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*ppxIdleTaskStackBuffer = &xIdleStack[0];
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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/* place for user code */
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}
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/* USER CODE END GET_IDLE_TASK_MEMORY */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* definition and creation of Start_CAN_Task */
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osThreadStaticDef(Start_CAN_Task, CAN_Task, osPriorityNormal, 0, 512, Start_CAN_TaskBuffer, &Start_CAN_TaskControlBlock);
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Start_CAN_TaskHandle = osThreadCreate(osThread(Start_CAN_Task), NULL);
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/* definition and creation of Start_LED_Task */
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osThreadStaticDef(Start_LED_Task, LED_Task, osPriorityLow, 0, 512, LEDBuffer, &LEDControlBlock);
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Start_LED_TaskHandle = osThreadCreate(osThread(Start_LED_Task), NULL);
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/* definition and creation of Start_IMU_Task */
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osThreadStaticDef(Start_IMU_Task, IMU_Task, osPriorityHigh, 0, 512, Start_IMU_TaskBuffer, &Start_IMU_TaskControlBlock);
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Start_IMU_TaskHandle = osThreadCreate(osThread(Start_IMU_Task), NULL);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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/* 机器人业务任务(动态创建,栈在 FreeRTOS 堆中分配) */
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osThreadDef(robot_cmd_task, robot_cmd_task, osPriorityNormal, 0, 384);
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osThreadCreate(osThread(robot_cmd_task), NULL);
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osThreadDef(c_comm_task, c_comm_task, osPriorityNormal, 0, 256);
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osThreadCreate(osThread(c_comm_task), NULL);
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osThreadDef(referee_task, referee_task, osPriorityLow, 0, 256);
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osThreadCreate(osThread(referee_task), NULL);
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osThreadDef(debug_task, debug_task, osPriorityLow, 0, 384);
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osThreadCreate(osThread(debug_task), NULL);
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#if defined(ROBOT_TYPE_GIMBAL)
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osThreadDef(gimbal_task, gimbal_task, osPriorityAboveNormal, 0, 512);
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osThreadCreate(osThread(gimbal_task), NULL);
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osThreadDef(shoot_task, shoot_task, osPriorityNormal, 0, 384);
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osThreadCreate(osThread(shoot_task), NULL);
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#endif
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#if defined(ROBOT_TYPE_CHASSIS)
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osThreadDef(chassis_task, chassis_task, osPriorityAboveNormal, 0, 512);
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osThreadCreate(osThread(chassis_task), NULL);
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#endif
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/* USER CODE END RTOS_THREADS */
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}
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/* USER CODE BEGIN Header_CAN_Task */
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/**
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* @brief Function implementing the Start_CAN_Task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_CAN_Task */
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__weak void CAN_Task(void const * argument)
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{
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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN CAN_Task */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END CAN_Task */
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}
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/* USER CODE BEGIN Header_LED_Task */
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/**
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* @brief Function implementing the Start_LED_Task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_LED_Task */
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__weak void LED_Task(void const * argument)
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{
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/* USER CODE BEGIN LED_Task */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END LED_Task */
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}
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/* USER CODE BEGIN Header_IMU_Task */
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/**
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* @brief Function implementing the Start_IMU_Task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_IMU_Task */
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__weak void IMU_Task(void const * argument)
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{
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/* USER CODE BEGIN IMU_Task */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END IMU_Task */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/* USER CODE END Application */
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